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281 Commits

Author SHA1 Message Date
Randy Mackay 3781f133d7 AC_AttControlHeli: remove unused definitions 2015-05-08 14:50:38 +09:00
Randy Mackay bef5633ed5 AC_AttControlHeli: use params from parent class 2015-05-08 14:50:36 +09:00
Randy Mackay 7951346d72 AC_AttControl: bf_feedfoward_save made more concise 2015-05-08 14:29:49 +09:00
Leonard Hall cf45a1cf3a AC_AttitudeControl: add get accel and save ff 2015-05-08 14:14:30 +09:00
Leonard Hall 1900cc7582 AC_AttitudeControl: Enable FF by default 2015-05-08 14:14:21 +09:00
Andrew Tridgell 872583f441 AC_AttitudeControl: removed fast_atan 2015-05-05 13:57:16 +10:00
Andrew Tridgell 84ac721340 AC_AttitudeControl: use M_PI_F instead of (float)M_PI 2015-05-05 13:44:19 +10:00
Andrew Tridgell 326b0b33ea AC_AttitudeControl: revert AP_Math class change 2015-05-05 13:27:04 +10:00
Tom Pittenger 1bca81eaed AC_AttitudeControl: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles 2015-05-05 13:26:55 +10:00
Randy Mackay 31edd6a72b AC_PosControl: add_takeoff_climb_rate method 
This function simply increments the current altitude target given a
climb rate and dt
 2015-05-01 12:56:30 +09:00
Jonathan Challinger ab2532a609 AC_AttitudeControl: constrain _angle_boost to avoid overflow 2015-04-24 16:30:43 +09:00
Tom Pittenger 84d3069a77 AttControl_Heli: fix compile warning re member init order 2015-04-24 14:15:35 +09:00
Jonathan Challinger 12957867fd AC_PosControl: fix thr twitch when changing modes 2015-04-18 12:38:44 +09:00
Jonathan Challinger 738b1967ad AC_PosControl: use LowPassFilterVector2f 2015-04-17 10:47:01 +09:00
Jonathan Challinger 8f667b3d1c AC_PosControl: fix up comments 2015-04-17 10:46:59 +09:00
Jonathan Challinger 87500d9d70 AC_AttitudeControl: use new lowpass filter 2015-04-17 10:46:45 +09:00
Leonard Hall c2a6a0a9e2 AC_PosControl: add accel filter parameter 2015-04-16 21:00:45 +09:00
Leonard Hall a632a57d79 AC_PosControl: accessors to log z-axis vel and accel 2015-04-16 21:00:32 +09:00
Leonard Hall 0aca3c4be6 AC_PosControl: add relax Alt Hold controllers 2015-04-16 21:00:25 +09:00
Leonard Hall 24b8d32b0e AC_AttitudeControl: add comment 2015-04-16 21:00:22 +09:00
Leonard Hall 7cb3c4ba39 AC_PosControl: add feed forward to Alt Hold 2015-04-16 21:00:20 +09:00
Randy Mackay a1e6a3ee32 AC_PosControl: minor format fix 2015-04-16 21:00:14 +09:00
Jonathan Challinger 3e0dab7b2d AC_PosControl: remove accel error filter and set throttle output filter instead 2015-04-16 21:00:07 +09:00
Jonathan Challinger b7f7624aac AC_AttitudeControl: add throttle filter cutoff parameter to set_throttle_out functions 2015-04-16 21:00:04 +09:00
Jonathan Challinger 518e798f53 AC_AttitudeControl: rework angle_boost 2015-04-16 20:59:58 +09:00
Jonathan Challinger 7abd02baf2 AC_PosControl: change int32/int16 to float in accel_to_throttle 2015-04-16 20:59:55 +09:00
Jonathan Challinger d14893fcd5 AC_PosControl: don't limit throttle any more 2015-04-16 20:59:51 +09:00
Jonathan Challinger f3555d0d43 AC_AttitudeControl: modify throttle interface to specify stabilization 2015-04-16 20:59:45 +09:00
Jonathan Challinger 5c2341009a AC_AttitudeControl: throttle is a float 2015-04-16 20:59:42 +09:00
Leonard Hall 4d9da2720b AC_AttitudeControl: add get for angle bf errors 2015-04-16 13:29:52 +09:00
Leonard Hall 48fb487a8c AC_AttitudeControl: Formatting fix 2015-04-15 22:04:27 +09:00
Randy Mackay bdfe8bbc54 AC_AttControl_Heli: remove RATE_RP_MAX, RATE_Y_MAX 2015-04-09 20:19:54 +09:00
Leonard Hall afcd1c6ec3 AC_AttitudeControl: sqrt controller on Stab 2015-04-09 20:19:43 +09:00
Jonathan Challinger 127791127c AC_PosControl: fix double literals 2015-03-24 06:29:04 -07:00
Leonard Hall 09aa2f8114 AC_AttitudeControl: Fix function discription 2015-03-23 07:40:04 -07:00
Leonard Hall 6b104c0529 AC_AttitudeControl: No Overshoot limit for Stab 
This maybe done in a more obvious way using a switch rather than just
making the overshoot larger than 180 degrees.
 2015-03-23 07:40:02 -07:00
Leonard Hall 9a3f48cc1f AC_PosControl: ensure throttle output above zero 2015-03-16 14:49:33 +09:00
Randy Mackay bb74b8dec8 AC_PosControl: fix twitch when entering RTL 
Also removed slow_cpu flag
Fixed bug in update to _accel_target_jerk_limited.
 2015-03-13 20:47:19 +09:00
Randy Mackay 90702e2d79 AC_AttControl: remove example sketch 
This sketch only tested compiling anyway
 2015-03-13 16:40:50 +09:00
Jonathan Challinger 88ec13b10d AC_PosControl: fix build 2015-03-11 10:00:00 +09:00
Randy Mackay 50d2e98aa4 AC_AttControl: init throttle_hover in constructor 2015-03-10 22:10:36 +09:00
Randy Mackay 965db2c7f7 AC_PosControl: add comments and defines for jerk limits 2015-03-10 22:10:34 +09:00
Jonathan Challinger 4408c1b935 AC_PosControl: 2d jerk constraint in accel_to_lean_angles 2015-03-10 22:10:32 +09:00
Jonathan Challinger 9871b95586 AC_PosControl: fix dt sanity checking 2015-03-10 22:10:30 +09:00
Jonathan Challinger e2383581cc AC_AttitudeControl: relax_bf_rate_controller resets rate integrators 2015-03-06 14:02:57 +09:00
Leonard Hall 20de383084 AC_AttControl: accel limiting for angular control only if feed forward enabled 2015-03-06 14:02:52 +09:00
Leonard Hall 7de5bccc93 AC_PosControl: remove THR_HOVER parameter 
Parameter is set by main code so no need to store to eeprom
 2015-03-06 14:02:46 +09:00
Leonard Hall 9866eaded1 AC_PosControl: rename p_alt_pos to p_pos_z 
Also pid_alt_accel to pid_accel_z
 2015-03-06 14:02:44 +09:00
Leonard Hall 349f1aeceb AC_PosControl: use 2-axis PI controller 2015-03-06 14:02:42 +09:00
Leonard Hall 8d4f0ec80c AC_PosControl: integrate PID input filter 2015-03-06 14:02:39 +09:00
Randy Mackay e4d48fdc92 AC_AttControlHeli: separate accel max for roll, pitch 
renamed _accel_y_max to _accel_yaw_max
 2015-03-06 14:02:36 +09:00
Leonard Hall 51455af51a AC_AttConHeli: integrate PID input filter 2015-03-06 14:02:35 +09:00
Leonard Hall 792b2a2eb3 AC_AttControl: separate accel max for roll, pitch, yaw 
Also add:
Rate filters
rename rate filter defines
d-term only filter for roll, pitch rate control
accessors to save max accel for roll, pitch, yaw
fix for duplicate ACCEL_Y_MAX param
 2015-03-06 14:02:33 +09:00
Leonard Hall 9833c91b2b AC_AttControl: get_max_rate_step_bf_roll, pitch and yaw 2015-03-06 14:02:30 +09:00
Leonard Hall f00025e5c9 AC_AttControl: accessor for rate feedforward 2015-03-06 14:02:27 +09:00
Leonard Hall 691fb8947e AC_AttControl: accessor for rate_bf_targets 2015-03-06 14:02:25 +09:00
Leonard Hall 784a4ce51a AC_AttControl: increase max angle overshoot to 30deg 2015-03-06 14:02:23 +09:00
Leonard Hall eb084f7c58 AC_AttControl: bf yaw control uses input filtered PID 2015-03-06 14:02:21 +09:00
Jonathan Challinger e9bbe062f3 AC_PosControl: modify accel_to_lean_angles to apply filters before yaw rotation 2015-02-24 16:41:03 +09:00
Andrew Tridgell 78dadcb5c6 AC_AttitudeControl: fixed example build 2015-02-09 13:08:34 +11:00
Randy Mackay 186337f18e AC_PosControl: rename xy_mode enum values 
Also added a few comments and fixed formatting
 2015-02-06 17:00:55 +09:00
Jonathan Challinger 3faca88423 AC_PosControl: allow control of xy rate constraint behavior 2015-02-06 17:00:48 +09:00
Robert Lefebvre 14d76d158a AC_AttitudeControl: Correct comment. 2015-02-03 14:55:30 +09:00
Randy Mackay 07a0388f25 AC_PosControl: move alt limit to set_alt_target_from_climb_rate 
The alt limit is instead enforced when the target is set using the
set_alt_target_from_climb_rate function
Also updated comments
 2015-01-30 14:13:52 +09:00
Robert Lefebvre 02f3f96310 AC_PosControl: Enable altitude limit checking. 2015-01-30 14:13:45 +09:00
Randy Mackay d7f7af8c13 AC_AttControl: fix example sketch 2015-01-28 17:15:32 +09:00
Robert Lefebvre 743c5e4fde AC_AttitudeControl: Remove un-needed #include 2015-01-21 14:36:54 +09:00
Randy Mackay aeecc46f7b AC_PosControl: remove unnecessary set of desired_accel 
The desired_accel is set again 11 lines lower so this line did nothing.
 2015-01-14 16:23:26 +09:00
Jonathan Challinger 9ebd0e9960 AC_PosControl: reincarnate dead block of code 2015-01-14 16:20:17 +09:00
Jonathan Challinger a580cd83e8 AC_PosControl: Fill _vel_desired.z for reporting 2015-01-14 16:08:48 +09:00
Andrew Tridgell 5c4440a9ac AC_AttitudeControl: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Randy Mackay 2a5a133bbf AC_AttControl: remove deprecated trigger_xy method 2015-01-07 14:03:49 +09:00
Randy Mackay c36253b9b2 AC_PosControl: add comments 
No functional change
 2014-12-31 14:03:22 +09:00
Jonathan Challinger 557d339cf1 AC_PosControl: remove various unnecessary timing hacks 2014-12-31 14:03:18 +09:00
Jonathan Challinger d6e455417f AC_PosControl: change keep_xy_I_terms to a parameter of init_xy_controller 2014-12-31 14:03:13 +09:00
priseborough 12ea1d6e85 AC_AttitudeControl: Scale angle demand noise filter 
Scales filter frequency using EKF nav gain scaler to take advantage of the reduced nav frequency whichcan tolerate a slower angle response.
This is required to reduce the effect of EKF optical flow noise increase with height.
 2014-12-06 18:16:51 +11:00
priseborough e80b1c67cd AC_AttitudeControl: Add EKF optical flow noise gain scaler 
Allows gains to be adjusted to compensate for optical flow noise
 2014-12-06 18:16:50 +11:00
priseborough 2dff76394d AC_PosControl: Add spike and noise filter to demanded angles 
This has been done to provide a smooth psotion hold when using an optical flow aided EKF which can be noisy.

Signed-off-by: priseborough <p_riseborough@live.com.au>
 2014-12-06 18:16:49 +11:00
Jonathan Challinger bfe71fea82 AC_PosControl: Use blended accelerometer measurement in altitude control 2014-12-05 19:40:10 +09:00
Randy Mackay d34ea4c124 AC_PosControl: fix to default force_descend param 2014-11-13 18:40:45 -08:00
Jonathan Challinger e81c1dd5a1 AC_PosControl: add force_descend option to set_alt_target_from_climb_rate 2014-11-13 18:40:38 -08:00
Randy Mackay 98f5a93e10 AC_AttControl: remove unused logging structure 2014-11-08 10:17:32 +09:00
Randy Mackay ac7ea2a12c AC_PosControl: use AttControl's sqrt_controller 2014-10-27 15:20:48 +09:00
Jonathan Challinger 7224669399 AC_AttitudeControl: cleanup angle_ef_roll_pitch_rate_ef_yaw_smooth 2014-10-27 15:20:46 +09:00
Jonathan Challinger 779baa006d AC_PosControl: Use sqrt_controller function 2014-10-27 15:20:44 +09:00
Jonathan Challinger 0c4a489491 AC_AttitudeControl: use sqrt_controller function 2014-10-27 15:20:43 +09:00
Randy Mackay fc898a00a3 AC_AttControl: add sqrt_controller 
Original code by Jonathan Challinger
 2014-10-27 15:20:40 +09:00
Andrew Tridgell 9a98e63702 AC_AttitudeControl: fixed example build 2014-10-24 12:10:39 +11:00
Randy Mackay a1cfd03c9b AC_PosControl: bug fix dt calculation 
fixes issue in which now could be earlier than _last_update_xy_ms
leading to a large dt value and a sudden lean on takeoff
 2014-10-21 11:40:47 +09:00
Jonathan Challinger 4a397a8d67 AC_PosControl: Protect from divide-by-zero in get_stopping_point_xy 2014-10-10 21:17:12 +09:00
Randy Mackay 1754cacf3c AC_PosControl: remove completed to-do comments 2014-10-04 23:49:24 +09:00
Randy Mackay f65e81cb07 AC_AttControl: remove some old comments 2014-10-04 23:49:21 +09:00
Randy Mackay cf3b2be99c AC_PosControl: 4hz filter on z-axis velocity error 2014-09-22 13:40:01 +09:00
Randy Mackay 665f353416 AC_PosControl: 2hz filter on accel error 
Replaced hard-coded filter with LowPassFilter class allowing the
filter's to be 2hz on both APM and Pixhawk
 2014-09-21 17:53:55 +09:00
Randy Mackay 3e1bd04c94 TradHeli: update AttControl params to match multicopters 2014-09-09 14:41:57 +09:00
Randy Mackay 5a66ff1ef9 AC_AttControl: bug fix for ef target during acro 2014-08-23 22:17:54 +09:00
Randy Mackay 3e0b573dfe AC_AttControl: remove debug message 2014-08-22 22:58:48 +09:00
Randy Mackay f6e12bda06 AC_AttControlHeli: integrate div-by-zero check for bf-to-ef conversion 2014-08-22 22:56:18 +09:00
Randy Mackay c45338f080 AC_AttControl: div-by-zero check for bf-to-ef conversion 2014-08-22 22:56:15 +09:00
Randy Mackay 691a3d8126 AC_AttControlHeli: add passthrough_bf_roll_pitch_rate_yaw 2014-08-22 16:28:57 +09:00